CN114139857A - Workpiece finishing process correcting method, system, storage medium and device - Google Patents
Workpiece finishing process correcting method, system, storage medium and device Download PDFInfo
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Abstract
The application discloses a workpiece finishing process correcting method, relates to the technical field of workpiece finishing, is applied to a robot-assisted surface finishing device, and comprises the following steps: acquiring coordinates of a reference hole on the surface of a target workpiece in a calibrated camera coordinate system; converting the coordinates of the reference hole under the calibrated camera coordinate system into coordinates under the calibrated world coordinate system according to the calibrated conversion relation; comparing the actual position of the reference hole under the calibrated world coordinate system obtained by conversion according to the theoretical position of the reference hole under the calibrated world coordinate system to obtain a deviation result; and correcting the processing procedure according to the deviation result. According to the method and the device, the relevant coordinate system is established in advance and calibrated, the coordinate information, the coordinate conversion and the coordinate comparison can be rapidly acquired through calibrating the conversion relation, and finally, the machining procedure is rapidly corrected according to the deviation result, so that the efficiency of correcting the machining procedure is greatly improved, the rejection rate is reduced, and the overall quality level of machining is improved.
Description
Technical Field
The application relates to the technical field of workpiece finishing, in particular to a method, a system, a storage medium and a device for correcting a workpiece finishing procedure.
Background
Along with the continuous development of the technology, the robot replaces the manual work to carry out the operation, which becomes a great trend of the manufacturing industry, the auxiliary die, especially the large die, has large surface finishing workload and high labor intensity, the finishing operation can generate powder to cause great damage to the body, and under the background, the robot assists the surface finishing of the die to be popularized and used in a large amount.
However, the workpiece to be machined cannot be guaranteed to be completely located at the correct machining position every time, the workpiece with a deviation in actual position is directly machined according to the theoretical machining procedure, the workpiece is scrapped, the rejection rate of products is high, more time is spent on adjusting the position of the workpiece to match the theoretical machining procedure, the machining efficiency is reduced, and the machining quality level is low.
Disclosure of Invention
The present application mainly aims to provide a method, a system, a storage medium, and a device for correcting a workpiece finishing process, and aims to solve the problem of low processing quality level of workpiece finishing in the prior art.
In order to achieve the above purpose, the embodiments of the present application adopt the following technical solutions:
a method for correcting a workpiece finishing process is applied to a robot-assisted surface finishing device and comprises the following steps:
acquiring coordinates of a reference hole on the surface of a target workpiece in a calibrated camera coordinate system;
converting the coordinates of the reference hole under the calibrated camera coordinate system into coordinates under the calibrated world coordinate system according to the calibrated conversion relation;
comparing the actual position of the reference hole under the calibrated world coordinate system obtained by conversion according to the theoretical position of the reference hole under the calibrated world coordinate system to obtain a deviation result;
and correcting the processing procedure according to the deviation result.
Optionally, before the step of acquiring coordinates of the reference hole on the target workpiece surface in the calibrated camera coordinate system, the method further includes:
calibrating a world coordinate system, a gantry coordinate system, a robot base coordinate system, a robot tool coordinate system and a camera coordinate system to obtain an intermediate conversion relation, wherein the intermediate conversion relation comprises a conversion relation between the world coordinate system and the gantry coordinate system, a conversion relation between the gantry coordinate system and the robot base coordinate system, a conversion relation between the robot base coordinate system and a robot tool coordinate system and a conversion relation between the robot tool coordinate system and the camera coordinate system;
and obtaining a conversion relation from the coordinate under the camera coordinate system to the world coordinate system according to the intermediate conversion relation so as to obtain the calibrated conversion relation.
Optionally, the step of comparing the actual position of the reference hole obtained by conversion in the calibrated world coordinate system according to the theoretical position of the reference hole in the calibrated world coordinate system to obtain a deviation result includes:
respectively calculating the data point centers of the actual value and the theoretical value of the reference hole under the calibrated world coordinate system;
constructing a decentralized data point set according to the data point center obtained by calculation;
acquiring a diagonal matrix according to the decentralized data point set;
performing singular value decomposition on the obtained diagonal matrix and obtaining a rotation matrix;
and acquiring the workpiece mounting position deviation by utilizing a translation amount calculation formula according to the rotation matrix.
Optionally, the step of correcting the machining process according to the deviation result includes:
and correcting the gantry station position information and the robot motion track information according to the deviation result.
Optionally, the step of calibrating the world coordinate system includes:
acquiring the position coordinates of the origin of a world coordinate system through a laser tracker;
selecting a calibration point position on a gantry base, and acquiring coordinate information of the calibration point position of the gantry at different ends of a guide rail;
determining the Y-axis direction of a world coordinate system established based on the origin position coordinate according to the vector direction of the coordinate information of the calibration point location;
and determining the Z-axis direction of a world coordinate system established on the basis of the origin position coordinates according to the vertical direction of the laser tracker.
Optionally, the step of obtaining a transformation relationship between the world coordinate system and the gantry coordinate system includes:
acquiring the position coordinates of the origin of a gantry coordinate system through a laser tracker;
establishing a gantry coordinate system with the coordinate system direction same as that of the world coordinate system based on the origin position coordinates of the gantry coordinate system;
and acquiring a conversion relation between the world coordinate system and the gantry coordinate system according to the world coordinate system and the gantry coordinate system.
Optionally, the step of obtaining a transformation relationship between the gantry coordinate system and the robot base coordinate system includes:
establishing a robot base coordinate system by taking the robot tool position as an origin position coordinate;
installing a target point of a laser tracker at the position of a robot tool point;
selecting a plurality of measuring points in a robot working space, and acquiring the positions of the measuring points under a gantry coordinate system by utilizing the matching of a laser tracker and a target point;
the position of a measuring point recorded on a robot controller under a robot base coordinate system is used;
and acquiring the conversion relation between the gantry coordinate system and the robot base coordinate system through the best fitting function of the laser tracker according to the positions of the measuring points under the gantry coordinate system and the robot base coordinate system.
Optionally, the step of obtaining a transformation relationship between a robot tool coordinate system and a camera coordinate system includes:
establishing a robot tool coordinate system under the current posture, wherein the coordinate axis direction of the robot tool coordinate system is the same as the coordinate axis direction of the robot base coordinate system, by taking the position point where the finishing end actuator is located as the original point position;
acquiring the coordinate position of the standard detection hole under a robot tool coordinate system through a laser tracker;
acquiring the coordinate position of a standard detection hole in a camera coordinate system;
respectively calculating the data point centers of the standard detection hole in a robot tool coordinate system and a camera coordinate system based on the coordinate position of the standard detection hole in the camera coordinate system and the coordinate position of the standard detection hole in the robot tool coordinate system;
constructing a decentralized data point set according to the data point center obtained by calculation;
obtaining a diagonal matrix according to the decentralized data point set;
performing singular value decomposition on the obtained diagonal matrix and obtaining a rotation matrix;
and acquiring the conversion relation between the coordinate system of the robot tool and the coordinate system of the camera according to the rotation matrix and by combining a translation amount calculation formula.
Optionally, the step of establishing a robot tool coordinate system in the current posture with the coordinate axis direction the same as the coordinate axis direction of the robot base coordinate system by using the position point where the finishing end effector is located as the origin position includes:
installing a target point of a laser tracker at a position point where a finishing end actuator is located;
respectively acquiring position information of the target point when the robot moves along the Z axis and the X axis of a robot tool coordinate system;
and according to the position information, establishing a robot tool coordinate system in the current posture with the positive direction of the coordinate axis being the same as the positive direction of the coordinate axis of the robot base coordinate system by taking the position point of the finishing end effector as the origin of coordinates.
In addition, in order to achieve the above object, the present application also provides a workpiece finishing process correcting system applied to a robot-assisted surface finishing apparatus, the system including:
the identification module is used for acquiring actual coordinate information of a reference hole on the surface of the target workpiece in a camera coordinate system;
the conversion module is used for converting actual coordinate information of the reference hole in the camera coordinate system to obtain the actual coordinate information of the reference hole in the calibrated world coordinate system;
the deviation determining module is used for comparing actual coordinate information and theoretical coordinate information of the reference hole under the calibrated world coordinate system to obtain a deviation result;
and the correction module is used for correcting the processing procedure according to the deviation result.
In addition, in order to achieve the above object, the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is loaded and executed by a processor, the method for correcting a workpiece finishing process provided by the present application is implemented.
In addition, to achieve the above object, the present application also provides a robot-assisted surface finishing apparatus including a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor is used for loading and executing a computer program so as to enable the device to execute the correcting method of the workpiece finishing process provided by the application.
Compared with the prior art, the beneficial effects of this application are:
the method, the device, the storage medium and the electronic equipment for correcting the workpiece finishing process, provided by the embodiment of the application, are used for acquiring the coordinates of a reference hole on the surface of a target workpiece in a calibrated camera coordinate system; converting the coordinates of the reference hole under the calibrated camera coordinate system into coordinates under a calibrated world coordinate system according to a calibrated conversion relation; comparing the actual position of the reference hole under the calibrated world coordinate system, which is obtained by conversion, according to the theoretical position of the reference hole under the calibrated world coordinate system; to obtain a deviation result; and correcting the machining program according to the deviation result. The method of the application pre-calibrates a fixed world coordinate system and a camera coordinate system moving relative to the world coordinate system, and the coordinate system relationship between the world coordinate system and the camera coordinate system is precisely calibrated to obtain the calibrated conversion relationship, in subsequent processing, the acquired coordinate information of the workpiece in the camera coordinate system can be directly converted into the coordinate information in the world coordinate system through the calibrated conversion relation, the actual position relation between the workpiece and the robot is quickly matched, the method has the advantages that the machining program for controlling the robot to do work is adjusted to match the actual position of the workpiece, the deviation between the actual coordinate information and the theoretical coordinate information is corrected to achieve the purpose of correcting the machining process, the method can achieve quick and accurate correction of the machining process, machining efficiency is greatly improved, rejection rate is reduced, and the overall quality level of machining is improved.
Drawings
FIG. 1 is a schematic structural diagram of a robot-assisted finishing apparatus for a hardware operating environment according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a method for correcting a finishing process of a workpiece according to an embodiment of the present disclosure;
fig. 3 is a functional block diagram of a workpiece finishing process correcting system according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a robot-assisted surface finishing device according to an embodiment of the present disclosure.
The labels in the figure are: 101-processor, 102-communication bus, 103-network interface, 104-user interface, 105-memory, 1-guide, 2-gantry, 3-industrial robot, 4-finishing end-effector, 5-industrial camera.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The main solution of the embodiment of the application is as follows: the method comprises the steps of obtaining the coordinates of a reference hole on the surface of a target workpiece in a calibrated camera coordinate system; converting the coordinates of the reference hole under the calibrated camera coordinate system into coordinates under the calibrated world coordinate system according to the calibrated conversion relation; comparing the actual position of the reference hole under the calibrated world coordinate system obtained by conversion according to the theoretical position of the reference hole under the calibrated world coordinate system to obtain a deviation result; and correcting the processing procedure according to the deviation result.
In the prior art, along with the continuous development of the technology, the robot replaces the manual work to carry out the operation and has become the major trend of the manufacturing industry, the robot participates in the work and can greatly improve the processing precision and increase the production efficiency, especially in the processing of some large-scale molds, the robot can replace the manual work to carry out the finishing operation with large workload and high labor intensity, the human body is prevented from sucking the dust generated by the finishing operation, but the workpiece to be processed cannot be guaranteed to be accurately placed on the correct processing position at each time, the process of theoretical processing has deviation with the actual processing position, the direct processing can cause the workpiece to be scrapped, the product rejection rate is high, the adjustment of the position of the workpiece to match the theoretical processing process can take more time, the processing efficiency is reduced, and the processing quality level is low.
Therefore, the method provides a solution, the coordinates of the target workpiece in the camera coordinate system are obtained, the actual coordinates of the target workpiece in the world coordinate system are directly obtained through the calibrated conversion relation, then the actual coordinates of the target workpiece in the world coordinate system are compared with the theoretical coordinates of the target workpiece in the world coordinate system to obtain a deviation result, and the machining process is corrected according to the deviation result. The problem of the lower processing quality level of workpiece finishing among the prior art is solved, high, efficient technological effect has been reached to the precision, has promoted the quality level of processing.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a robot-assisted surface finishing device in a hardware operating environment according to an embodiment of the present disclosure, where the robot-assisted surface finishing device may include: a processor 101, such as a Central Processing Unit (CPU), a communication bus 102, a user interface 104, a network interface 103, and a memory 105. Wherein the communication bus 102 is used for enabling connection communication between these components. The user interface 104 may comprise a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 104 may also comprise a standard wired interface, a wireless interface. The network interface 103 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 105 may optionally be a storage device independent of the processor 101, and the Memory 105 may be a Random Access Memory (RAM) Memory with high speed or a Non-Volatile Memory (NVM), such as at least one disk Memory; the processor 101 may be a general-purpose processor including a central processing unit, a network processor, etc., and may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of a robotic-assisted surface finishing device and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, the memory 105, which is a storage medium, may include therein an operating system, a data storage module, a network communication module, a user interface module, and an electronic program.
In the robotic auxiliary surface finishing device shown in fig. 1, the network interface 103 is primarily used for data communication with a network server; the user interface 104 is mainly used for data interaction with a user; the processor 101 and the memory 105 of the robot-assisted surface finishing device of the present invention may be disposed in the robot-assisted surface finishing device, and the robot-assisted surface finishing device calls the workpiece finishing process correcting system stored in the memory 105 through the processor 101, and executes the workpiece finishing process correcting method provided in the embodiment of the present application.
Referring to fig. 2, based on the hardware device of the foregoing embodiment, an embodiment of the present application provides a workpiece finishing process correcting method applied to a robot-assisted surface finishing apparatus, including the following steps:
s20: acquiring coordinates of a reference hole on the surface of a target workpiece in a calibrated camera coordinate system;
in the specific implementation process, the target workpiece is a die to be finished, a reference hole for positioning and identifying is arranged on the target workpiece, the calibrated camera coordinate system is a camera coordinate system which is established in advance based on the position of the identification device, the identification device can be a high-speed video camera, an industrial camera and the like, the identification device can capture images and convert image optical signals into electric signals, and the coordinate position of the target workpiece under the camera coordinate system can be quickly and accurately identified and acquired through the identification device.
S30: converting the coordinates of the reference hole under the calibrated camera coordinate system into coordinates under the calibrated world coordinate system according to the calibrated conversion relation;
in the specific implementation process, the calibrated world coordinate system is a world coordinate system which is established in advance, the position of an origin point and the coordinate axis direction of the coordinate system are determined according to actual conditions, the calibrated relation is a conversion relation of converting coordinates under the camera coordinate system into the world coordinate system, the origin points of the coordinate systems can be calibrated by using a laser tracker through the coordinate systems of the camera coordinate system, the world coordinate system and other units, the directions of the coordinate systems are calibrated according to the motion characteristics of the coordinate systems, and the conversion relation between the two coordinate systems is sequentially calibrated by starting the world coordinate system, so that the calibration relation between the world coordinate system and the camera coordinate system is obtained, and actual coordinates acquired under the camera coordinate system can be quickly converted into actual coordinates under the world coordinate system during subsequent processing.
S40: comparing the actual position of the reference hole under the calibrated world coordinate system obtained by conversion according to the theoretical position of the reference hole under the calibrated world coordinate system to obtain a deviation result;
in this embodiment, the established world coordinate system is different from other coordinate systems, the other coordinate systems are used as moving units in the machining work, the world coordinate system with a fixed position moves relatively to the position of the world coordinate system, and the theoretical machining process is more reasonably matched with the world coordinate system, that is, the machining process can be matched with the world coordinate system in advance, the coordinate comparison in the world coordinate system is actually the comparison with the theoretical machining process, the coordinate information of the actual position is compared with the coordinate information of the theoretical position, and the deviation result of the coordinates is obtained, that is, the deviation result of the actual machining process relative to the theoretical machining process is obtained.
S50: correcting the machining process according to the deviation result;
in this embodiment, the processing program is modified according to the deviation result obtained in step S40, so that the actual processing procedure is the same as the theoretical processing procedure or the error is within a reasonable range, for example, in the world coordinate system, the theoretical processing procedure requires the finishing end effector to move from one end of the mold surface to the other end along the positive direction of the X axis, the information in the world coordinate system matching with the theoretical processing procedure is that the finishing end effector needs to move from the starting point to the ending point, and now, according to the deviation result, the actual position of the mold is shifted to the positive direction of the X axis by a distance, at this time, the starting point is not on the mold surface, the modification is required, the starting point and the ending point are both moved by the same distance in the positive direction of the X axis, and when the deviation result is reflected in the world coordinate system, the horizontal coordinates of the starting point and the ending point are added with the value corresponding to the shifted distance, the negative shift in the X-axis direction is a value obtained by subtracting the abscissa from the corresponding value, and the correction on the other coordinate axes is similar to the above, but the above description is merely a simple description of one correction means, and is not intended to limit the correction means in the specific implementation process.
According to the workpiece finishing process correcting method provided by the embodiment, the coordinate system is calibrated in advance, the conversion relation between the camera coordinate system and the world coordinate system is associated to obtain the calibration conversion relation, the coordinate information of the workpiece identified under the camera coordinate system moving under the world coordinate system can be converted into the fixed world coordinate system to be matched with the theoretical coordinate position through the conversion relation, so that the deviation between the actual position and the theoretical position of the target workpiece is obtained, the processing process is corrected according to the deviation to achieve the purpose of accurate processing, the processing efficiency is improved, and the overall processing quality level is improved.
In one embodiment, at step S20: before acquiring the coordinates of the reference hole of the target workpiece surface in the calibrated camera coordinate system, the method further comprises the following steps:
s101: calibrating a world coordinate system, a gantry coordinate system, a robot base coordinate system, a robot tool coordinate system and a camera coordinate system to obtain an intermediate conversion relation, wherein the intermediate conversion relation comprises a conversion relation between the world coordinate system and the gantry coordinate system, a conversion relation between the gantry coordinate system and the robot base coordinate system, a conversion relation between the robot base coordinate system and a robot tool coordinate system and a conversion relation between the robot tool coordinate system and the camera coordinate system;
in the specific implementation process, based on the units involved in processing, respective coordinate systems are established in advance, the origin of each coordinate system is selected according to the actual situation and can be calibrated by using a laser tracker, the coordinate axis direction of each coordinate system is calibrated according to the motion characteristics of the corresponding motion unit, for example, the origin of the robot base coordinate system is set at the position point where the robot base coordinate system is located, the horizontal placement ground is perpendicular to the horizontal placement ground to be used as the Z-axis direction, the two directions are used as X, Y-axis directions to establish the coordinate system as the moving directions of the gantry and the calibration of other coordinate systems is similar to the two directions.
After the calibration of each coordinate system is completed, the conversion relationship between the world coordinate system and the gantry coordinate system, the conversion relationship between the gantry coordinate system and the robot base coordinate system, the conversion relationship between the robot base coordinate system and the robot tool coordinate system, and the conversion relationship between the robot tool coordinate system and the camera coordinate system can be respectively obtained as intermediate conversion relationships.
S102: obtaining a conversion relation from the coordinate under the camera coordinate system to the world coordinate system according to the intermediate conversion relation so as to obtain a calibrated conversion relation;
in the specific implementation process, the conversion relation between the world coordinate system and the camera coordinate system can be calibrated by derivation according to the correlated intermediate conversion relation, so that the coordinate information acquired under the camera coordinate system can be directly converted into the coordinate information under the world coordinate system to complete comparison.
In the embodiment, before the method for correcting the workpiece finishing process, the coordinate system and the coordinate system direction between each unit are designed in the forward direction, the origin and the coordinate axis direction of each coordinate system are calibrated by using a high-precision measuring instrument, the conversion relation between the coordinate systems is obtained, the actual positions of the coordinate systems are represented in an explicit mode, when the relation between any coordinate system and other coordinate systems needs to be calculated, resampling calculation is not needed, the relation can be obtained directly through the calibrated conversion relation, and calculation of the relation between any coordinate system in a later use process is facilitated.
In one embodiment, the step of calibrating the world coordinate system is further designed to make the coordinate information acquisition more accurate and further improve the accuracy of the deviation result acquisition, and specifically includes:
installing a laser tracker, adjusting the horizontal installation of the laser tracker by utilizing the self-contained horizontal adjustment function of the laser tracker, determining the origin W of a coordinate system, and measuring the position coordinate of the set origin W by the laser tracker;
acquiring coordinate information of calibration point positions of the gantry at different ends of the guide rail, specifically, selecting the calibration point positions on a gantry base, moving the gantry to one end of the guide rail, and measuring the coordinates P of the calibration point positions1Moving the gantry to the other end of the guide rail, and measuring the coordinate P of the selected point2；
Based on coordinate information of the point location to be calibratedThe vector direction determines the Y-axis direction of a world coordinate system established based on the position coordinates of the origin, the coordinate system establishing function of the laser tracker is utilized, the W is taken as the origin, the vertical direction of the laser tracker is the positive direction of the Z axis,
establishing a world coordinate system W-XYZ for the positive direction of the Y axis, and naturally determining the direction of the third coordinate axis after the directions of the origin, the Z axis and any other coordinate axis are determined according to the relation among the coordinate axes.
In the embodiment, the laser tracker is a high-precision large-size measuring instrument in an industrial measuring system, integrates various advanced technologies such as a laser interference distance measuring technology, a photoelectric detection technology, a precision mechanical technology, a computer and control technology, a modern numerical calculation theory and the like, tracks a space moving target and measures a space three-dimensional coordinate of the target in real time, has the characteristics of high precision, high efficiency, real-time tracking measurement, quickness in installation, simplicity and convenience in operation and the like, and is suitable for assembly measurement of large-size workpieces.
The laser tracker is basically composed of a laser tracking head (tracker), a controller, a user computer, a reflector (target mirror), a measuring accessory and the like, and the basic working principle of the laser tracker is that the reflector is arranged on a target point, laser emitted by the tracking head is emitted to the reflector and returns to the tracking head, when the target moves, the tracking head adjusts the direction of the beam to aim at the target, and meanwhile, the returned beam is received by a detection system and is used for measuring and calculating the spatial position of the target.
In one embodiment, the step of obtaining the transformation relationship between the world coordinate system and the gantry coordinate system is further designed to obtain more accurate coordinate information, so as to obtain more accurate transformation relationship between the world coordinate system and the gantry coordinate system, further improve the accuracy of obtaining a deviation result, and improve the degree of fitting between a correction machining process and an actual position of a workpiece, and specifically, the step of obtaining the transformation relationship between the world coordinate system and the gantry coordinate system comprises:
determining the coordinate system origin G, and measuring the position coordinates of the gantry coordinate system origin G by a laser tracker;
because the world coordinate system is established according to the moving direction of the gantry, in order to facilitate the marking of the conversion relation between the gantry coordinate system and the world coordinate system, the gantry coordinate system G-XYZ with the coordinate system direction same as the coordinate system direction of the world coordinate system is established based on the position coordinate of the origin G of the gantry coordinate system;
therefore, the conversion relation between the gantry coordinate system G-XYZ and the world coordinate system W-XYZ can be solved
In one embodiment, the step of obtaining the transformation relationship between the gantry coordinate system and the robot base coordinate system is further designed to obtain more accurate coordinate information, so as to obtain more accurate transformation relationship between the gantry coordinate system and the robot base coordinate system, further improve the accuracy of obtaining a deviation result, improve the degree of matching between a correction machining process and an actual position of a workpiece, and specifically include:
establishing a robot tool coordinate system under the current posture with the coordinate axis direction being the same as the coordinate axis direction of a robot base coordinate system by taking the position point where the finishing end effector is located as an origin position, specifically, establishing the robot tool coordinate system with the position point T where the finishing end effector is located as the origin and the coordinate axis direction being the same as the robot base coordinate system T-XYZ as the finishing end effector carried by the robot moves based on the motion of the robot;
a robot end effector refers to any tool with a certain function attached to the edge (joint) of a robot, which may include a robot gripper, a robot tool quick-change device, a robot collision sensor, a robot rotary connector, a robot pressure tool, a compliance device, a robot paint gun, a robot burr cleaning tool, a robot arc welding gun, a robot electric welding gun, etc. The robotic end effector is generally considered to be a peripheral device of the robot, an accessory of the robot, a robotic tool, an end of arm tool (EOA), and in the present application, the robotic swaging actuator is a finishing end effector as a performing end of the finishing process because the finishing process is required.
More specifically, the step of establishing a robot tool coordinate system in the current posture with the coordinate axis direction being the same as the coordinate axis direction of the robot base coordinate system by using the position point where the finishing end effector is located as the origin position comprises the following steps:
installing a target point of a laser tracker at a position point where a finishing end actuator is located;
respectively obtaining position information of the target point when the robot moves along the Z axis and the X axis of the robot tool coordinate system, operating the robot to move along the positive direction of the Z axis of the robot base coordinate system, and recording the position P of the target point before and after the movement by the laser trackerz1、Pz2The operation robot moves along the positive direction of the X axis of the robot base coordinate, and the laser tracker records the position P of the target point before and after the movementx1、Px2；
According to the position information, taking the position point T of the finishing end effector as a coordinate origin to
Is the positive direction of the Z axis,
and establishing a robot tool coordinate system T-XYZ in the current posture for the positive direction of the X axis.
Generally, the installation position of a robot is on a cross frame of a gantry, a robot base coordinate system is established by taking the position of a robot tool point, namely the position connected with the cross frame, as an origin position coordinate, wherein in order to improve the position acquisition precision and facilitate the subsequent establishment of connection with a world coordinate system, the positive direction of the Z axis of the robot base coordinate system is opposite to the positive direction of the Z axis of the world coordinate system, the positive direction of the X axis is opposite to the positive direction of the Y axis of the world coordinate system, and the positive direction of the Y axis is opposite to the positive direction of the X axis of the world coordinate system, and a robot base coordinate system B-XYZ is established, so that the coordinate axes of the robot base coordinate system and the world coordinate system are respectively located at the diagonal positions of the same virtual cube;
installing a target point of a laser tracker at the position of a robot tool point;
selecting as many measuring points as possible in the working space of the robot to ensure the subsequent fitting effect and obtain an accurate conversion relation, and acquiring the positions of the measuring points under a gantry coordinate system by utilizing the cooperation of a laser tracker and a target point;
the position of a measuring point recorded on a robot controller under a robot base coordinate system is used;
according to the position of the measuring point under the gantry coordinate system and the position under the robot base coordinate system, the conversion relation between the robot base coordinate system B-XYZ and the gantry coordinate system G-XYZ is solved through the best fitting function of the laser tracker
In one embodiment, the position and posture information P of the current position P of the finishing end effector in the robot tool coordinate system is set according to the established robot tool coordinate system T-XYZ and the robot base coordinate system B-XYZTIs (x, y, z, A, B, C), PBPosition information of a point P under a robot base coordinate system, wherein x, y and z are coordinate information of PT respectively, A, B, C are P respectivelyTAngle of rotation about axis Z, Y, X according to formula
The conversion relation between the robot tool coordinate system and the robot base coordinate system can be solved
Wherein R isx(C) Representing point PTMatrix of angular values in rotation about the X-axis, Ry(B)、Rz(A) And the like.
In one embodiment, the step of obtaining the transformation relationship between the robot tool coordinate system and the camera coordinate system is further designed to obtain more accurate coordinate information, so as to obtain more accurate transformation relationship between the robot tool coordinate system and the camera coordinate system, further improve accuracy of obtaining a deviation result, improve conformity between a correction machining process and an actual position of a workpiece, and specifically include:
the method comprises the steps that the coordinate position of a standard detection hole under a robot tool coordinate system is obtained through a laser tracker, and the standard detection hole refers to a tool used for positioning and identifying when a reference hole on the surface of a simulation die is finished, so that the purposes of detection and debugging are achieved;
acquiring coordinate information of the standard detection hole in a camera coordinate system and recording the coordinate information as pi(i is 1, …, m) m is more than or equal to 4, wherein m represents the number of standard holes;
coordinate information of the standard detection hole under the camera coordinate system is identified by utilizing the identification function of the industrial camera and is recorded as qi(i＝1，…，m)m≥4；
Because the industrial camera is installed on the finishing end effector as a recognition device, the motion of the industrial camera is based on the motion of the robot, the motion of the robot is based on the motion of the gantry, and the coordinate information in the camera coordinate system is finally converted and returned to the world coordinate system, the origin of the established camera coordinate system C-XYZ is determined according to the position point where the actual industrial camera is located, and the coordinate axis direction is the same as the world coordinate system; the method for solving the conversion relation between the camera coordinate system and the robot tool coordinate system comprises the following steps:
respectively calculating the centers of data points of the standard detection holes under a robot tool coordinate system and a camera coordinate system according to the following calculation formula:
is represented by piThe center of the data point obtained by calculation,
is given by qiCalculating the center of the obtained data point;
constructing according to the data point center obtained by calculationDecentralized data point set:
xi、yiare respectively provided with
A constructed set;
obtaining a diagonal matrix according to the decentralized data point set: h ═ X × S × Y, where S is a unit matrix, X, Y are each represented by Xi、yiConstructing a matrix;
performing singular value decomposition on the obtained diagonal matrix, wherein the formula of the singular value decomposition is as follows: H-U-S-V, wherein U, V is a variable matrix, the singular value is decomposed and then the rotation matrix R is solved, and the solved formula is R-V-UTWhere T is a transposed symbol;
according to the rotation matrix, a translation quantity calculation formula T-Y-R X is utilized, and a conversion relation between a camera coordinate system and a robot tool coordinate system is solved
In one embodiment, the step of solving the deviation between the actual position and the theoretical position of the reference hole by a method similar to the method for solving the transformation relationship between the camera coordinate system and the robot tool coordinate system, specifically, comparing the actual position of the reference hole obtained by transformation in the calibrated world coordinate system according to the theoretical position of the reference hole in the calibrated world coordinate system to obtain the deviation result, includes:
identifying the reference hole through an industrial camera to obtain a coordinate P of the reference hole in a camera coordinate systemi T(i is 1, …, m) m is more than or equal to 4, using the formula
The coordinate P of the system in the world coordinate system can be obtainedi W(i＝1,…,m)m≥4；
Respectively calculating the data point centers of the actual value and the theoretical value of the reference hole in a world coordinate system, wherein the calculation formula is as follows:
according to the data point center obtained by calculation, constructing a decentralized data point set:
obtaining a diagonal matrix according to the decentralized data point set: h ═ X × S × Y, where S is a single-site matrix;
performing singular value decomposition on the obtained diagonal matrix, wherein the formula of the singular value decomposition is as follows: h ═ U × (S × V), solving the rotation matrix after singular value decomposition, and solving the formula of R ═ V × UT；
According to the rotation matrix, the translation quantity calculation formula T-Y-R X is utilized to obtain the workpiece mounting position deviation
In one embodiment, the correction of the gantry position information is performed according to formula E, since the Y-axis direction of the world coordinate system is consistent with the gantry movement direction2＝E1+TyIn which E is2Representing the corrected station value, E1Representing the theoretical station level, TyA y-axis coordinate representing the mold installation deviation translation amount T; correcting robot motion track information according to formula p2＝TransW*p1In which p is2For correcting the coordinates of the motion track points of the robot, p1Coordinates of the locus points for theoretical movement of the robot, TransWThe adjustment of the machining process is realized by adjusting the gantry station position and matching with the robot motion adjustment for the workpiece mounting position deviation, and the effect of higher degree of fit between the corrected machining process and the actual position of the workpiece is achieved.
Referring to fig. 3, based on the same inventive concept as the previous embodiment, the present application further provides a workpiece finishing process correcting system applied to a robot-assisted surface finishing device, the system comprising:
the identification module is used for acquiring actual coordinate information of a reference hole on the surface of the target workpiece in a camera coordinate system;
the conversion module is used for converting actual coordinate information of the reference hole in the camera coordinate system to obtain the actual coordinate information of the reference hole in the calibrated world coordinate system;
the deviation determining module is used for comparing actual coordinate information and theoretical coordinate information of the reference hole under the calibrated world coordinate system to obtain a deviation result;
and the correction module is used for correcting the processing procedure according to the deviation result.
It should be understood by those skilled in the art that the division of each module in the embodiment is only a division of a logic function, and all or part of the division may be integrated onto one or more actual carriers in actual application, and all of the modules may be implemented in a form called by a processing unit through software, may also be implemented in a form of hardware, or implemented in a form of combination of software and hardware.
Based on the same inventive concept as the aforementioned embodiments, embodiments of the present application further provide a computer-readable storage medium, which stores a computer program, and when the computer program is loaded and executed by a processor, the method for correcting a workpiece finishing process provided by the embodiments of the present application is implemented.
In addition, based on the same inventive concept as the previous embodiments, the embodiments of the present application further provide a robot-assisted surface finishing apparatus, at least comprising a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor is used for loading and executing a computer program to enable the robot-assisted surface finishing device to execute the correction method of the workpiece surface finishing process provided by the embodiment of the application.
Referring to fig. 4, in some embodiments, the robot-assisted surface finishing apparatus may further include a guide rail 1, a gantry 2, an industrial robot 3, a finishing end effector 4, and an industrial camera 5, wherein,
the portal frame 2 is arranged on the guide rails 1 and can move along the guide rails 1, and a workpiece finishing working area is arranged between the guide rails 1;
the industrial robot 3 is connected with the cross frame of the portal frame 2;
an end finishing actuator 4 is mounted at the end of the industrial robot 3;
an industrial camera 5 is mounted on the finishing end effector 4;
after the target workpiece is processed by the identification module, the conversion module, the deviation determination module and the correction module of the workpiece finishing processing procedure correction system, the finishing end executor is used as an execution module to carry out surface finishing processing on the workpiece according to the corrected processing procedure.
In some embodiments, the computer-readable storage medium may be memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash, magnetic surface memory, optical disk, or CD-ROM; or may be various devices including one or any combination of the above memories. The computer may be a variety of computing devices including intelligent terminals and servers.
In some embodiments, executable instructions may be written in any form of programming language (including compiled or interpreted languages), in the form of programs, software modules, scripts or code, and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.
By way of example, executable instructions may, but need not, correspond to files in a file system, and may be stored in a portion of a file that holds other programs or data, such as in one or more scripts in a hypertext Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).
By way of example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The sequence of the embodiments of the present application is merely for description, and does not represent the advantages and disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., a rom/ram, a magnetic disk, an optical disk) and includes instructions for enabling a multimedia terminal (e.g., a mobile phone, a computer, a television receiver, or a network device) to execute the method of the embodiments of the present application.
In summary, according to the method, the system, the storage medium and the device for correcting the workpiece finishing process provided by the application, the conversion relation between the camera coordinate system and the world coordinate system is obtained through the pre-established coordinate system and the intermediate conversion relation between the corresponding coordinate systems, the actual coordinate information of the target workpiece in the camera coordinate system can be quickly converted into the actual coordinate information of the target workpiece in the world coordinate system after being recognized, then the deviation result is obtained by comparing the actual coordinate information with the theoretical coordinate information of the workpiece which should be located in the theoretical processing program, namely the deviation between the actual processing program and the theoretical processing program of the target workpiece is obtained, finally the purpose of correcting the processing process is achieved through correcting the coordinate deviation result, the speed of correcting the workpiece finishing process is greatly improved, the rejection rate of the workpiece is reduced, and the processing accuracy is improved, the processing quality level of finishing processing is greatly improved.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (12)
1. A method for correcting a workpiece finishing process is characterized by being applied to a robot-assisted surface finishing device and comprising the following steps of:
acquiring coordinates of a reference hole on the surface of a target workpiece in a calibrated camera coordinate system;
converting the coordinates of the reference hole under the calibrated camera coordinate system into coordinates under a calibrated world coordinate system according to the calibrated conversion relation;
comparing the actual position of the reference hole under the calibrated world coordinate system obtained by conversion according to the theoretical position of the reference hole under the calibrated world coordinate system to obtain a deviation result;
and correcting the processing procedure according to the deviation result.
2. The workpiece finishing process correction method of claim 1, wherein prior to said step of acquiring coordinates of the reference hole of the target workpiece surface in a calibrated camera coordinate system, said method further comprises:
calibrating a world coordinate system, a gantry coordinate system, a robot base coordinate system, a robot tool coordinate system and a camera coordinate system to obtain an intermediate conversion relationship, wherein the intermediate conversion relationship comprises a conversion relationship between the world coordinate system and the gantry coordinate system, a conversion relationship between the gantry coordinate system and the robot base coordinate system, a conversion relationship between the robot base coordinate system and the robot tool coordinate system and a conversion relationship between the robot tool coordinate system and the camera coordinate system;
and obtaining a conversion relation from the coordinates under the camera coordinate system to the world coordinate system according to the intermediate conversion relation so as to obtain the calibrated conversion relation.
3. The method for correcting a finishing process of a workpiece according to claim 1, wherein the step of comparing the actual position of the reference hole in the calibrated world coordinate system obtained by converting the theoretical position of the reference hole in the calibrated world coordinate system to obtain a deviation result comprises:
respectively calculating the data point centers of the actual value and the theoretical value of the reference hole under the calibrated world coordinate system;
constructing a decentralized data point set according to the data point center obtained by calculation;
acquiring a diagonal matrix according to the decentralized data point set;
performing singular value decomposition on the obtained diagonal matrix and obtaining a rotation matrix;
and acquiring the workpiece mounting position deviation by utilizing a translation amount calculation formula according to the rotation matrix.
4. A method of correcting a finishing process of a workpiece according to claim 1, wherein said step of correcting the process based on the deviation result comprises:
and correcting the gantry station position information and the robot motion track information according to the deviation result.
5. The method of workpiece finishing process correction according to claim 2, wherein said step of calibrating a world coordinate system comprises:
acquiring the position coordinates of the origin of the world coordinate system through a laser tracker;
selecting a calibration point location on a gantry base, and acquiring coordinate information of the calibration point location when the gantry is at different ends of a guide rail;
determining the Y-axis direction of the world coordinate system established based on the origin position coordinate according to the vector direction of the coordinate information of the calibration point location;
and determining the Z-axis direction of the world coordinate system established based on the origin position coordinate according to the vertical direction of the laser tracker.
6. A workpiece finishing process correction method as in claim 2 wherein said step of obtaining a translation of said world coordinate system to said gantry coordinate system comprises:
acquiring the position coordinates of the origin of the gantry coordinate system through a laser tracker;
establishing a gantry coordinate system with the coordinate system direction same as that of the world coordinate system based on the origin position coordinates of the gantry coordinate system;
and acquiring the conversion relation between the world coordinate system and the gantry coordinate system according to the world coordinate system and the gantry coordinate system.
7. A workpiece finishing process correction method as in claim 2 wherein said step of obtaining a translation of said gantry coordinate system to said robot base coordinate system comprises:
establishing a robot base coordinate system by taking the robot tool position as an origin position coordinate;
installing a target point of a laser tracker at the position of the robot tool point;
selecting a plurality of measuring points in a robot working space, and acquiring the positions of the measuring points under the gantry coordinate system by utilizing the cooperation of the laser tracker and the target points;
recording the position of the measuring point under the robot base coordinate system on a robot controller;
and acquiring the conversion relation between the gantry coordinate system and the robot base coordinate system through the best fitting function of the laser tracker according to the positions of the measuring points under the gantry coordinate system and the robot base coordinate system.
8. The workpiece finishing process correction method of claim 2, wherein said step of obtaining a transformation relationship of said robot tool coordinate system and said camera coordinate system comprises:
establishing a robot tool coordinate system under the current posture, wherein the coordinate axis direction of the robot tool coordinate system is the same as the coordinate axis direction of the robot base coordinate system, by taking the position point where the finishing end actuator is located as the origin position;
acquiring the coordinate position of a standard detection hole under the robot tool coordinate system through a laser tracker;
acquiring the coordinate position of the standard detection hole in the camera coordinate system;
calculating the data point centers of the standard detection hole under the robot tool coordinate system and the camera coordinate system respectively based on the coordinate position of the standard detection hole under the camera coordinate system and the coordinate position of the robot tool coordinate system;
constructing a decentralized data point set according to the data point center obtained by calculation;
obtaining a diagonal matrix according to the decentralized data point set;
performing singular value decomposition on the obtained diagonal matrix and obtaining a rotation matrix;
and acquiring the conversion relation between the robot tool coordinate system and the camera coordinate system according to the rotation matrix and by combining a translation amount calculation formula.
9. A workpiece finishing process correction method according to claim 8, wherein said step of establishing a robot tool coordinate system in a current posture in which a coordinate axis direction is the same as a coordinate axis direction of said robot base coordinate system, with a position point of a finishing end effector as an origin position, comprises:
installing a target point of a laser tracker at a position point where the finishing end effector is located;
respectively acquiring the position information of the target point when the robot moves along the Z axis and the X axis of the robot tool coordinate system;
and establishing a robot tool coordinate system under the current posture, wherein the positive direction of the coordinate axis is the same as that of the coordinate axis of the robot base coordinate system, by taking the position point of the finishing end effector as the origin of coordinates according to the position information.
10. A workpiece finishing process modification system for use with a robotic-assisted finishing device, the system comprising:
the identification module is used for acquiring actual coordinate information of a reference hole on the surface of the target workpiece in a camera coordinate system;
the conversion module is used for converting actual coordinate information of the reference hole in the calibrated world coordinate system based on the actual coordinate information of the reference hole in the camera coordinate system to obtain the actual coordinate information of the reference hole in the calibrated world coordinate system;
the deviation determining module is used for comparing actual coordinate information and theoretical coordinate information of the reference hole under the calibrated world coordinate system to obtain a deviation result;
and the correction module is used for correcting the processing procedure according to the deviation result.
11. A computer-readable storage medium storing a computer program, wherein the computer program, when loaded and executed by a processor, implements the method of modifying a workpiece surface finishing process as recited in any one of claims 1-9.
12. A robot-assisted finishing apparatus comprising a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor is configured to load and execute the computer program to cause the apparatus to perform the method of modifying a workpiece surface finishing process according to any one of claims 1 to 9.
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